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dc.contributor.authorKuindersma, Scott
dc.contributor.authorKarumanchi, Sisir B.
dc.contributor.authorAntone, Matthew
dc.contributor.authorDai, Hongkai
dc.contributor.authorDiCicco, Matt
dc.contributor.authorFourie, Dehann
dc.contributor.authorYu, Kuan-Ting
dc.contributor.authorIagnemma, Karl
dc.contributor.authorTeller, Seth
dc.contributor.authorPerez D'Arpino, Claudia
dc.contributor.authorDeits, Robin Lloyd Henderson
dc.contributor.authorKoolen, Frans Anton
dc.contributor.authorMarion, James Patrick
dc.contributor.authorPosa, Michael Antonio
dc.contributor.authorValenzuela, Andres Klee
dc.contributor.authorShah, Julie A
dc.contributor.authorTedrake, Russell L
dc.contributor.authorFallon, Maurice
dc.contributor.authorSchneider, Toby Edwin
dc.date.accessioned2015-05-21T13:30:08Z
dc.date.available2015-05-21T13:30:08Z
dc.date.issued2014-10
dc.identifier.issn15564959
dc.identifier.issn1556-4967
dc.identifier.urihttp://hdl.handle.net/1721.1/97045
dc.description.abstractThe DARPA Robotics Challenge Trials held in December 2013 provided a landmark demonstration of dexterous mobile robots executing a variety of tasks aided by a remote human operator using only data from the robot's sensor suite transmitted over a constrained, field-realistic communications link. We describe the design considerations, architecture, implementation, and performance of the software that Team MIT developed to command and control an Atlas humanoid robot. Our design emphasized human interaction with an efficient motion planner, where operators expressed desired robot actions in terms of affordances fit using perception and manipulated in a custom user interface. We highlight several important lessons we learned while developing our system on a highly compressed schedule.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (United States. Air Force Research Laboratory Award FA8750-12-1-0321)en_US
dc.description.sponsorshipUnited States. Office of Naval Research (Award N00014-12-1-0071)en_US
dc.language.isoen_US
dc.publisherWiley Blackwellen_US
dc.relation.isversionofhttp://dx.doi.org/10.1002/rob.21546en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleAn Architecture for Online Affordance-based Perception and Whole-body Planningen_US
dc.typeArticleen_US
dc.identifier.citationFallon, Maurice, Scott Kuindersma, Sisir Karumanchi, Matthew Antone, Toby Schneider, Hongkai Dai, Claudia Perez D’Arpino, et al. “An Architecture for Online Affordance-Based Perception and Whole-Body Planning.” Journal of Field Robotics 32, no. 2 (October 25, 2014): 229–254.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.departmentMassachusetts Institute of Technology. Laboratory for Manufacturing and Productivityen_US
dc.contributor.mitauthorFallon, Maurice Francisen_US
dc.contributor.mitauthorKuindersma, Scotten_US
dc.contributor.mitauthorKarumanchi, Sisir B.en_US
dc.contributor.mitauthorAntone, Matthewen_US
dc.contributor.mitauthorSchneider, Tobyen_US
dc.contributor.mitauthorDai, Hongkaien_US
dc.contributor.mitauthorPerez D'Arpino, Claudiaen_US
dc.contributor.mitauthorDeits, Robin Lloyd Hendersonen_US
dc.contributor.mitauthorDiCicco, Matten_US
dc.contributor.mitauthorFourie, Dehannen_US
dc.contributor.mitauthorKoolen, Frans Antonen_US
dc.contributor.mitauthorMarion, James Patricken_US
dc.contributor.mitauthorPosa, Michael Antonioen_US
dc.contributor.mitauthorValenzuela, Andres Kleeen_US
dc.contributor.mitauthorYu, Kuan-Tingen_US
dc.contributor.mitauthorShah, Julie A.en_US
dc.contributor.mitauthorIagnemma, Karlen_US
dc.contributor.mitauthorTedrake, Russell Louisen_US
dc.contributor.mitauthorTeller, Sethen_US
dc.relation.journalJournal of Field Roboticsen_US
dc.eprint.versionOriginal manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsFallon, Maurice; Kuindersma, Scott; Karumanchi, Sisir; Antone, Matthew; Schneider, Toby; Dai, Hongkai; D'Arpino, Claudia Perez; Deits, Robin; DiCicco, Matt; Fourie, Dehann; Koolen, Twan; Marion, Pat; Posa, Michael; Valenzuela, Andres; Yu, Kuan-Ting; Shah, Julie; Iagnemma, Karl; Tedrake, Russ; Teller, Sethen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-6798-1921
dc.identifier.orcidhttps://orcid.org/0000-0002-1999-7395
dc.identifier.orcidhttps://orcid.org/0000-0001-9755-3856
dc.identifier.orcidhttps://orcid.org/0000-0002-8954-2310
dc.identifier.orcidhttps://orcid.org/0000-0002-2802-2610
dc.identifier.orcidhttps://orcid.org/0000-0003-0599-385X
dc.identifier.orcidhttps://orcid.org/0000-0002-8712-7092
dc.identifier.orcidhttps://orcid.org/0000-0001-9363-3701
dc.identifier.orcidhttps://orcid.org/0000-0003-1338-8107
dc.identifier.orcidhttps://orcid.org/0000-0003-1081-2953
dc.identifier.orcidhttps://orcid.org/0000-0003-1206-5445
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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